Walking assist device
US9050237B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 23, 2011 |
| Grant date | Jun 9, 2015 |
| Priority date | — |
| Expiry date | Dec 4, 2033 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61H2205/102
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A walking assist device which assists walking motion of one of the legs of the human with a sensor attached only to the one leg is provided. The walking assist device having an actuator, a sensor, and a controller. The sensor detects a knee joint angle and a hip joint angle of the one leg. The controller stores a first target trajectory for the knee joint angle and a second target trajectory for the hip joint angle. The controller controls the actuator so that the detected knee joint angle follows the first target trajectory. Further, the controller compares time series data of the detected hip joint angle with the second target trajectory while the one leg is in a stance phase. The controller calculates a time difference between the time series data and the second target trajectory and modifies the first target trajectory based on the time difference.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.